mjbWorld program - User guide - Inverse Kinematics
Tutorial

This uses the ConstraintBean to limit the motion of a transformGroupBean and
allow the motion to be propagated along the chain (see kinematics
theory).

We have already covered forward
kinematics where motions can be specified for any tranformGroups in the
chain and the movement of the leaves of the tree is the resultant of all the
transformGroups above it.

First start the program. Add a cylinder under a shape3d and transformGroup
beans.

Set the radius of the cylinder to 0.1 and the height to 1,

Now use the transform group to rotate the cylinder through 1.56 and move it
through x= -1.8

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